한국항해항만학회:학술대회논문집 (Proceedings of the Korean Institute of Navigation and Port Research Conference)
- 한국항해항만학회 2005년도 추계학술대회 논문집
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- Pages.17-22
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- 2005
An Adaptive Autopilot for Course-keeping and Track-keeping Control of Ships using Adaptive Neural Network (Part I: Theoretical study)
- NGUYEN Phung-Hung (Graduate school, Korea Maritime University) ;
- JUNG Yun-Chul (Div. of Navigation Systems Engineering, Korea Maritime University)
- 발행 : 2005.10.01
초록
This paper presents a new adaptive autopilot for ships based on the Adaptive Neural Networks. The proposed adaptive autopilot is designed with some modifications and improvements from the previous studies on Adaptive Neural Networks by Adaptive Interaction (ANNAI) theory to perform course-keeping, turning and track-keeping control. A strategy for automatic selection c! the neural network controller parameters is introduced to improve the adaptation ability and the robustness of new ANNAI autopilot. In Part II of the paper, to show the effectiveness and feasibility of the proposed ANNAI autopilot, computer simulations of course-keeping and track-keeping tasks with and without the effects of measurement noise and external disturbances are presented.
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